Merge branch 'main' into factories-in-command-tests

.github/labeler.yml

@@ -0,0 +1,56 @@
+'2027':
+- base-branch: '2027'
+'component: apriltag':
+- changed-files:
+  - any-glob-to-any-file: apriltag/**
+'component: command-based':
+- changed-files:
+  - any-glob-to-any-file: wpilibNewCommands/**
+'component: cscore':
+- changed-files:
+  - any-glob-to-any-file: cscore/**
+'component: datalogtool':
+- changed-files:
+  - any-glob-to-any-file: datalogtool/**
+'component: epilogue':
+- changed-files:
+  - any-glob-to-any-file: epilogue-*/**
+'component: examples':
+- changed-files:
+  - any-glob-to-any-file: wpilib*Examples/**
+'component: glass':
+- changed-files:
+  - any-glob-to-any-file: glass/**
+'component: hal':
+- changed-files:
+  - any-glob-to-any-file: hal/**
+'component: ntcore':
+- changed-files:
+  - any-glob-to-any-file: ntcore/**
+'component: outlineviewer':
+- changed-files:
+  - any-glob-to-any-file: outlineviewer/**
+'component: sysid':
+- changed-files:
+  - any-glob-to-any-file: sysid/**
+'component: teamnumbersetter':
+- changed-files:
+  - any-glob-to-any-file: roborioteamnumbersetter/**
+'component: wpilibc':
+- changed-files:
+  - any-glob-to-any-file: wpilibc/**
+'component: wpilibj':
+- changed-files:
+  - any-glob-to-any-file: wpilibj/**
+'component: wpimath':
+- changed-files:
+  - any-glob-to-any-file: wpimath/**
+'component: wpinet':
+- changed-files:
+  - any-glob-to-any-file: wpinet/**
+'component: wpiunits':
+- changed-files:
+  - any-glob-to-any-file: wpiunits/**
+'component: wpiutil':
+- changed-files:
+  - any-glob-to-any-file: wpiutil/**

.github/workflows/comment-command.yml

@@ -43,7 +43,7 @@ jobs:
           distribution: 'temurin'
           java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.45
+        run: pip3 install wpiformat==2024.50
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply

.github/workflows/gradle.yml

@@ -15,10 +15,10 @@ jobs:
           - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
           - container: wpilib/ubuntu-base:22.04

.github/workflows/labeler.yml

@@ -0,0 +1,12 @@
+name: "Pull Request Labeler"
+on:
+- pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/labeler@v5

.github/workflows/lint-format.yml

@@ -27,7 +27,7 @@ jobs:
         with:
           python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.45
+        run: pip3 install wpiformat==2024.50
       - name: Run
         run: wpiformat
       - name: Check output
@@ -66,7 +66,7 @@ jobs:
         with:
           python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.45
+        run: pip3 install wpiformat==2024.50
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

.github/workflows/sentinel-build.yml

@@ -19,10 +19,10 @@ jobs:
           - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
           - container: wpilib/ubuntu-base:22.04

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2025.7.1"
+    implementation "edu.wpi.first:native-utils:2025.9.0"
 }

developerRobot/README.md

@@ -9,7 +9,12 @@ This command builds everything.
 
 ## Simulation
 
-This command runs the C++ subproject on desktop.
+This command runs the Java project on desktop.
+```bash
+./gradlew developerRobot:run
+```
+
+This command runs the C++ project on desktop.
 ```bash
 ./gradlew developerRobot:runCpp
 ```

developerRobot/build.gradle

@@ -54,6 +54,9 @@ dependencies {
     implementation project(':cameraserver')
     implementation project(':wpilibNewCommands')
     implementation project(':apriltag')
+    implementation project(':wpiunits')
+    implementation project(':epilogue-runtime')
+    annotationProcessor project(':epilogue-processor')
 }
 
 tasks.withType(com.github.spotbugs.snom.SpotBugsTask).configureEach {

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/ElementHandler.java

@@ -127,8 +127,10 @@ public String elementAccess(Element element) {
 
   private static String fieldAccess(VariableElement field) {
     if (field.getModifiers().contains(Modifier.PRIVATE)) {
-      // (com.example.Foo) $fooField.get(object)
-      return "(" + field.asType() + ") $" + field.getSimpleName() + ".get(object)";
+      // ((com.example.Foo) $fooField.get(object))
+      // Extra parentheses so cast evaluates before appended methods
+      // (e.g. when appending .getAsDouble())
+      return "((" + field.asType() + ") $" + field.getSimpleName() + ".get(object))";
     } else {
       // object.fooField
       return "object." + field.getSimpleName();

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/SendableHandler.java

@@ -4,24 +4,32 @@
 
 package edu.wpi.first.epilogue.processor;
 
+import java.util.Optional;
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.TypeMirror;
 
 public class SendableHandler extends ElementHandler {
-  private final TypeMirror m_sendableType;
-  private final TypeMirror m_commandType;
-  private final TypeMirror m_subsystemType;
+  private final Optional<TypeMirror> m_sendableType;
+  private final Optional<TypeMirror> m_commandType;
+  private final Optional<TypeMirror> m_subsystemType;
 
   protected SendableHandler(ProcessingEnvironment processingEnv) {
     super(processingEnv);
 
     m_sendableType =
-        lookupTypeElement(processingEnv, "edu.wpi.first.util.sendable.Sendable").asType();
+        Optional.ofNullable(
+                lookupTypeElement(processingEnv, "edu.wpi.first.util.sendable.Sendable"))
+            .map(TypeElement::asType);
     m_commandType =
-        lookupTypeElement(processingEnv, "edu.wpi.first.wpilibj2.command.Command").asType();
+        Optional.ofNullable(
+                lookupTypeElement(processingEnv, "edu.wpi.first.wpilibj2.command.Command"))
+            .map(TypeElement::asType);
     m_subsystemType =
-        lookupTypeElement(processingEnv, "edu.wpi.first.wpilibj2.command.SubsystemBase").asType();
+        Optional.ofNullable(
+                lookupTypeElement(processingEnv, "edu.wpi.first.wpilibj2.command.SubsystemBase"))
+            .map(TypeElement::asType);
   }
 
   @Override
@@ -30,20 +38,28 @@ public boolean isLoggable(Element element) {
 
     // Accept any sendable type. However, the log invocation will return null
     // for sendable types that should not be logged (commands, subsystems)
-    return m_processingEnv.getTypeUtils().isAssignable(dataType, m_sendableType);
+    return m_sendableType
+        .map(t -> m_processingEnv.getTypeUtils().isAssignable(dataType, t))
+        .orElse(false);
   }
 
   @Override
   public String logInvocation(Element element) {
     var dataType = dataType(element);
 
-    if (m_processingEnv.getTypeUtils().isAssignable(dataType, m_commandType)
-        || m_processingEnv.getTypeUtils().isAssignable(dataType, m_subsystemType)) {
-      // Do not log commands or subsystems via their sendable implementations
-      // We accept all sendable objects to prevent them from being reported as not loggable,
-      // but their sendable implementations do not include helpful information.
-      // Users are free to provide custom logging implementations for commands, and tag their
-      // subsystems with @Logged to log their contents automatically
+    // Do not log commands or subsystems via their sendable implementations
+    // We accept all sendable objects to prevent them from being reported as not loggable,
+    // but their sendable implementations do not include helpful information.
+    // Users are free to provide custom logging implementations for commands, and tag their
+    // subsystems with @Logged to log their contents automatically
+    if (m_commandType
+        .map(t -> m_processingEnv.getTypeUtils().isAssignable(dataType, t))
+        .orElse(false)) {
+      return null;
+    }
+    if (m_subsystemType
+        .map(t -> m_processingEnv.getTypeUtils().isAssignable(dataType, t))
+        .orElse(false)) {
       return null;
     }
 

epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/AnnotationProcessorTest.java

@@ -243,7 +243,7 @@ public ExampleLogger() {
         @Override
         public void update(EpilogueBackend backend, Example object) {
           if (Epilogue.shouldLog(Logged.Importance.DEBUG)) {
-            backend.log("x", (double) $x.get(object));
+            backend.log("x", ((double) $x.get(object)));
           }
         }
       }
@@ -252,6 +252,59 @@ public void update(EpilogueBackend backend, Example object) {
     assertLoggerGenerates(source, expectedGeneratedSource);
   }
 
+  @Test
+  void privateSuppliers() {
+    String source =
+        """
+      package edu.wpi.first.epilogue;
+
+      import java.util.function.DoubleSupplier;
+
+      @Logged
+      class Example {
+        private DoubleSupplier x;
+      }
+    """;
+
+    String expectedGeneratedSource =
+        """
+    package edu.wpi.first.epilogue;
+
+    import edu.wpi.first.epilogue.Logged;
+    import edu.wpi.first.epilogue.Epilogue;
+    import edu.wpi.first.epilogue.logging.ClassSpecificLogger;
+    import edu.wpi.first.epilogue.logging.EpilogueBackend;
+    import java.lang.invoke.MethodHandles;
+    import java.lang.invoke.VarHandle;
+
+    public class ExampleLogger extends ClassSpecificLogger<Example> {
+      private static final VarHandle $x;
+
+      static {
+        try {
+          var lookup = MethodHandles.privateLookupIn(Example.class, MethodHandles.lookup());
+          $x = lookup.findVarHandle(Example.class, "x", java.util.function.DoubleSupplier.class);
+        } catch (ReflectiveOperationException e) {
+          throw new RuntimeException("[EPILOGUE] Could not load private fields for logging!", e);
+        }
+      }
+
+      public ExampleLogger() {
+        super(Example.class);
+      }
+
+      @Override
+      public void update(EpilogueBackend backend, Example object) {
+        if (Epilogue.shouldLog(Logged.Importance.DEBUG)) {
+          backend.log("x", ((java.util.function.DoubleSupplier) $x.get(object)).getAsDouble());
+        }
+      }
+    }
+    """;
+
+    assertLoggerGenerates(source, expectedGeneratedSource);
+  }
+
   @Test
   void privateWithGenerics() {
     String source =
@@ -294,7 +347,7 @@ public ExampleLogger() {
         @Override
         public void update(EpilogueBackend backend, Example object) {
           if (Epilogue.shouldLog(Logged.Importance.DEBUG)) {
-            logSendable(backend.getNested("chooser"), (edu.wpi.first.wpilibj.smartdashboard.SendableChooser<java.lang.String>) $chooser.get(object));
+            logSendable(backend.getNested("chooser"), ((edu.wpi.first.wpilibj.smartdashboard.SendableChooser<java.lang.String>) $chooser.get(object)));
           }
         }
       }
@@ -1503,7 +1556,7 @@ public ExampleLogger() {
           @Override
           public void update(EpilogueBackend backend, Example object) {
             if (Epilogue.shouldLog(Logged.Importance.DEBUG)) {
-              var $$theField = (edu.wpi.first.epilogue.I) $theField.get(object);
+              var $$theField = ((edu.wpi.first.epilogue.I) $theField.get(object));
               if ($$theField instanceof edu.wpi.first.epilogue.Base edu_wpi_first_epilogue_Base) {
                 Epilogue.baseLogger.tryUpdate(backend.getNested("theField"), edu_wpi_first_epilogue_Base, Epilogue.getConfig().errorHandler);
               } else {

shared/config.gradle

@@ -15,7 +15,7 @@ nativeUtils {
         configureDependencies {
             opencvYear = "frc2025"
             niLibVersion = "2025.0.0"
-            opencvVersion = "4.8.0-2"
+            opencvVersion = "4.10.0-3"
         }
     }
 }

shared/opencv.gradle

@@ -1,4 +1,4 @@
-def opencvVersion = '4.8.0-2'
+def opencvVersion = '4.10.0-3'
 
 if (project.hasProperty('useCpp') && project.useCpp) {
     model {

upstream_utils/sleipnir.py

@@ -48,8 +48,8 @@ def copy_upstream_src(wpilib_root):
 def main():
     name = "sleipnir"
     url = "https://github.com/SleipnirGroup/Sleipnir"
-    # main on 2024-09-18
-    tag = "8bbce85252bc351c5aacb0de9f50fa31b8b9e1ae"
+    # main on 2024-12-07
+    tag = "01206ab17d741f4c45a7faeb56b8a5442df1681c"
 
     sleipnir = Lib(name, url, tag, copy_upstream_src)
     sleipnir.main()